WO2016129797A1 - Système de chariot mobile - Google Patents

Système de chariot mobile Download PDF

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Publication number
WO2016129797A1
WO2016129797A1 PCT/KR2015/013418 KR2015013418W WO2016129797A1 WO 2016129797 A1 WO2016129797 A1 WO 2016129797A1 KR 2015013418 W KR2015013418 W KR 2015013418W WO 2016129797 A1 WO2016129797 A1 WO 2016129797A1
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WO
WIPO (PCT)
Prior art keywords
guide rail
angle
roller
pair
trolley
Prior art date
Application number
PCT/KR2015/013418
Other languages
English (en)
Korean (ko)
Inventor
하헌석
Original Assignee
주식회사 브이텍
하헌석
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 브이텍, 하헌석 filed Critical 주식회사 브이텍
Publication of WO2016129797A1 publication Critical patent/WO2016129797A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
    • B65G21/20—Means incorporated in, or attached to, framework or housings for guiding load-carriers, traction elements or loads supported on moving surfaces
    • B65G21/22—Rails or the like engaging sliding elements or rollers attached to load-carriers or traction elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B13/00—Other railway systems
    • B61B13/04—Monorail systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0457—Storage devices mechanical with suspended load carriers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for

Definitions

  • the present invention relates to a transport trolley system, and more particularly, by combining a fixed frame in which the rolling body is installed in the cloud contact with the guide rail to the main frame, by fixing the bogie to the curved section having a variety of curvature radius This makes it possible to reduce noise and friction, to significantly lower the failure rate, to significantly extend the service life of the system, and to smoothly carry heavy materials by minimizing the shaking during the driving of the truck. It relates to a conveying bogie system.
  • the above-mentioned conveyor and trolley may cause a lot of noise during operation, and if you want to install so that the direction in which the goods are transported, there is a limit to minimize the radius of curvature, so a lot of space must be devoted, especially in the workplace It may be very difficult or impossible for the article to be transported in the up and down direction with respect to the bottom surface.
  • a 'transport bogie system' has been proposed in which a rotating frame provided with a roller and a rolling body on one side is rotatably provided with respect to the main frame to travel along the guide rail.
  • the conventional technology is that the rotary frame is rotatably provided with respect to the main frame, the noise is extremely severe, and as the rotation frame is used, not only the absolute amount of rotation of the roller and the rolling body is large, but also the relative movement is severe, so that the friction is more. There was a big and frequent problem.
  • An object of the present invention is to solve the above problems, by fixing a fixed frame that is installed in the cloud contacting the cloud to the guide rail to the main frame, driving the bogie for a curved section having a variety of curvature radius This makes it possible to reduce noise and friction, to significantly lower the failure rate, to significantly extend the service life of the system, and to smoothly carry heavy materials by minimizing the shaking during the driving of the truck. To provide a transfer bogie system.
  • a transport cart system includes protrusions protruding in opposite directions at both ends in a width direction and extending in a curved line on a plane parallel to the main frame, or the main body.
  • a guide rail including any one or more of a second curved section extending in a curve on a plane intersecting the frame and a straight extension section, and a bogie mounted on the guide rail so as to travel along a direction in which the guide rail extends.
  • a trolley system for transport comprising: the trolley comprises: a mainframe; A pair of fixed frames fixed to and coupled to the main frame; Two pairs of rollers rotatably coupled to each of the fixed frames, the pair of rollers being rotatably contacted with the protrusions of the guide rails by friction; And a pair of first and second clouds which are rotatably provided in contact with one side of the guide rail, which is in contact with the surface facing the fixed frame with respect to the guide rail, and the fixed frame with respect to the guide rail.
  • the rolling body of the present invention may be made by connecting the center point of the roller in the fixed frame and adjusting the size of the current two rolling bodies.
  • the more important part is to rotate the rolling body in parallel with the centerline of the straight extension section of the guide rail, even if it is somewhat inconsistent in the curved section. This is because the rotation of the rolling body in parallel with the center line of the linear extension section through repeated experiments causes more friction in the second curve section, but it can greatly contribute to the smooth operation in the linear extension section. It has been found to be desirable for operation.
  • first curve section This is shown in Figures 10 and 12 as the curved surface of the guide rail is formed facing or fixed to the fixed frame. This first curved section is known to be solved by making the groove portion of the roller V-shaped.
  • the second curve section This means that the surface of the fixed frame and the surface of the guide rail are parallel, but the curved section as shown in Fig. 7 or 8 in which the surface of the guide rail is annular.
  • the most difficult and important task in the process of the present invention was to make a structure that works well and smoothly simultaneously in the second curved section and the straight section of the guide rail while completely fixing the fixed frame.
  • the product of the present invention may have two or more second curve sections having different radii of virtual circles formed by curves, and it is more difficult to make a structure that satisfies all of them.
  • F is an angle formed by an imaginary line connecting two roller center points formed in each fixed frame.
  • G is the angle formed by placing the main frame in the second curve section and connecting two roller center points close to the center point among the roller center points formed in the fixed frames of the main frame at the center point that the curve can form. it means.
  • F is not much different from G, and in principle, it is manufactured at almost the same angle.
  • many iterations have shown that F works well in the G15 range as long as it has a positive angle and is more than 1/4 of G. This is a very important point and there may be two or more second curve sections with different radii, which is important for harmonizing these sections.
  • the second curve section in the detailed description or claims of the present invention should be recognized as not referring to only one curve section but to one or more second curve sections.
  • a groove may be formed in at least one of the rollers, and the protrusion of the guide rail which contacts the groove may be tapered.
  • a pair of inclined surfaces are formed in the protruding portion so as to decrease in thickness toward the end of the guide rail in a width direction, and a pair of inclined surfaces are formed in the groove so that the diameter decreases toward the center of the roller in the axial direction.
  • the angle formed by the pair of inclined surfaces of the protrusion may be smaller than the angle formed by the pair of inclined surfaces of the groove portion.
  • bogie system includes the motor which generate
  • the transfer bogie system according to the present invention, by fixing the fixed frame in which the rolling body is installed in the rolling contact with the guide rail to the main frame, the bogie for the curved section having various curvature radius The driving is possible, and the noise and the frictional force can be reduced by about 1/2 to 1/4 compared with the prior art.
  • the roller and the rolling body of the absolute by fixing a pair of fixed frames on which the two pairs of rollers and a pair of first, second, third, fourth clouds are installed.
  • the amount of rotation can be reduced and the relative movement can be minimized to reduce the friction between the roller and the rolling body and the guide rail as well as to significantly lower the failure rate.
  • the life of the transfer bogie system due to the reduction of noise and friction force during transfer of the bogie, the reduction of the absolute rotation of the roller and rolling body and the friction between the roller and rolling body and the guide rail Can be significantly extended (with a lifespan of about five times the life of rollers and rolling stock and about two times the life of the entire system).
  • the conveyance trolley system it is possible to stably and smoothly carry out the transfer of heavy materials (about 2 times or more based on facilities of the same standard) by minimizing the shaking during the running of the trolley.
  • the transport cart system since the occupancy of the space is not directly installed on the floor of the work site, the space utilization of the work site can be improved.
  • FIG. 1 is a view showing the overall configuration of the transfer balance system according to the present invention.
  • Figure 2 is a perspective view of the balance for the transfer balance system according to the present invention.
  • Figure 3 is a block diagram showing the angle between the fixed frame formed by a virtual line connecting the two roller center points formed on a pair of fixed frame according to the present invention.
  • Figure 4 is a perspective view of a state in which the trolley travels along a straight section of the guide rail in the transport trolley system according to the present invention.
  • FIG. 5 is a cross-sectional view taken along the line 'A-A' of FIG. 4.
  • Figure 6 is a front view of the bogie of the trolley bogie system according to the invention.
  • FIG. 7 is a view showing a state in which the trolley travels the guide rail of the portion A of FIG. 1 in the transfer trolley system according to the present invention.
  • FIG. 8 is a diagram illustrating another embodiment in which an angle between fixed frames formed by a virtual line connecting two roller center points formed in a pair of fixed frames according to the present invention is changed.
  • FIG. 9 is an enlarged view of a portion C of FIG. 5.
  • FIG. 10 is a view showing a state in which the trolley travels the guide rail of part B of FIG. 1 in the transfer trolley system according to the present invention.
  • FIG. 11 is a view showing an angle change between the rotational center axis of the roller and the longitudinal center axis of the rail body.
  • FIG. 12 is a diagram illustrating a state in which a truck runs on a guide rail curved in a direction opposite to that of FIG. 10.
  • FIG. 13 is a view showing a modification of the roller for the transfer bogie system according to the present invention.
  • transfer balance system 100 disclosed in the present specification is completed through numerous repetitive experiments and technical development meetings, and may be implemented in various embodiments, which is not limited to the embodiments described herein. Add.
  • Centerline means the centerline for the straight extension of the guide rail on which the bogie runs.
  • Roller center point refers to a center point for two pairs of rollers provided to be rotatable by frictional force in contact with the projection of the guide rail on the pair of fixed frames.
  • Angle between fixed frames refers to an angle formed by an imaginary line connecting two roller center points formed on a pair of fixed frames.
  • the "second curve angle” refers to an angle formed by an imaginary line connecting the center points of the second curve sections and the center points of two rollers close to the center points.
  • Center point refers to the center of the virtual circle formed by extending the second curve section.
  • the trolley balance system 100 includes a guide rail 101, a main frame 310 and a pair of fixed frames 330 and 340 fixedly coupled to the main frame 310 and a fixed frame.
  • a pair of first and second clouds 410, 420 which are in rolling contact with a surface facing the fixed frame 330, 340 with respect to the rollers 370, 370a, 380, 380a and the guide rail 101 that are possibly coupled.
  • a trolley 300 including a sieve and a trolley driving means.
  • the trolley balance system 100 is configured such that the trolley 300 is seated on the guide rail 101 to travel along the direction in which the guide rail 101 extends.
  • the guide rail 101 includes a section 101a (hereinafter referred to as a 'straight section') extending in a straight line and a section 101b and 101c (hereinafter referred to as a 'curve section') extending in a straight line with respect to the longitudinal direction. It can be configured to include.
  • the straight section 101a of the guide rail 101 may be formed vertically, horizontally, or inclined with respect to the ground.
  • the straight section 101a may be configured in various forms as necessary, such as length, height of position, an angle of inclination with respect to the ground, an extending direction, and the like.
  • the curved sections 101b and 101c of the guide rail 101 are disposed between one straight section 101a and the other straight section 101a to change the direction in which the straight section 101a extends.
  • the curved sections 101b and 101c are arranged on a plane intersecting with the first curved section 101b and the main frame 310 extending in a curve on a plane parallel to the main frame 310 of the trolley 300 to be described later.
  • a second curved section 101c extends in a curved line.
  • a plane parallel to the main frame 310 may be a plane perpendicular to the ground
  • a plane crossing the main frame 310 may be a plane horizontal to the ground. Therefore, the guide rail 101 is configured by mixing the straight section 101a, the first curved section 101b, and the second curved section 101c so that the guide rail 101 can extend along various paths in three dimensions. Can be.
  • the guide rail 101 includes a rail body 102 and a pair of protrusions 130 and 140 with respect to the width direction.
  • the rail body 102 may be formed in a rectangular shape, and easily supports the force applied to the rail body 102 in the course of the trolley 300 traveling along the guide rail 101 and may be a component of the trolley 300.
  • the shape of the rail main body 102 may be variously changed, such as having a shape in which a part is embedded to prevent interference between the rail main body 102 and the rail main body 102.
  • the pair of protrusions 130 and 140 are formed to protrude in opposite directions to both ends of the rail body 102 in the width direction, and are formed along the longitudinal direction of the rail body 102.
  • a pair of inclined surfaces 131 and 132 and a roller contact portion 133 are formed on one side of the protrusion 130, and a pair of inclined surfaces 141 on the other side of the protrusions 130 and 140. 142 and the roller contact portion 143 may be formed.
  • the trolley 300 is coupled to the guide rail 101 to be movable along the longitudinal direction of the guide rail 101.
  • the bogie 300 includes a main frame 310, a pair of fixed frames 330 and 340, two pairs of rollers 370, 370a, 380, and 380a, a first cloud body 410 and 420, and a second cloud body. 410a and 420a, third cloud bodies 430 and 440, and fourth cloud bodies 430a and 440a.
  • the mainframe 310 may have a flat plate shape.
  • a pair of fixed frames 330 and 340 are fixedly coupled to one surface of the main frame 310.
  • the pair of fixed frames (330, 340) are in contact with the protrusions (130, 140) of the guide rail 101, the rollers 370, 370a, 380, 380a which rotates by friction force are coupled to each other in a rotatable manner.
  • the rollers 370, 370a, 380, and 380a coupled to the fixed frames 330 and 340 are disposed at both sides with the center FC between the fixed frames 330 and 340 interposed therebetween.
  • rollers 370, 370a, 380, 380a are coupled to the roller shafts 350, 350a (not shown) provided in the fixed frames 330, 340.
  • the two pairs of rollers 370, 370a, 380, 380a can be rotated about the center of rotation of the roller center points RC1, RC2, RC3, RC4 of the two pairs of roller shafts 350, 350a, one pair not shown, respectively.
  • Two pairs of roller shafts (350, 350a, one pair not shown) is preferably installed in parallel with the center line (CL) of the guide rail (101).
  • a recessed groove portion 390 may be formed in the middle portion of the outer circumferential surface of the four rollers 370, 370a, 380, and 380a, and may be formed in a cylindrical shape having a flat outer circumferential surface without the groove portion.
  • the groove portion 390 When the groove portion 390 is formed on the outer circumferential surface of each roller 370, 370a, 380, 380a, the groove portion 390 consists of a pair of inclined surfaces 391 and 392 and a rail contact portion 393.
  • 370 is formed to decrease in diameter toward the center of the axial direction. That is, the pair of inclined surfaces 391 and 392 are formed to have a shape inclined toward the center of rotation of the roller 370 from both ends of the outer circumferential surface of the roller 370 toward the middle portion, and the pair of inclined surfaces 391 and 392.
  • the rail contact portion 393 is formed between the outer peripheral surface of the roller 370 with a minimum diameter.
  • the cross-sectional shape of the groove 390 has a trapezoid as shown. However, when the width of the rail contact portion 393 is small, it may have a V shape.
  • a pair of inclined surfaces (131, 132) and the roller contact portion 133 is formed on the protrusion 130 formed on the rail body (102).
  • the pair of inclined surfaces 131 and 132 are formed such that the thickness of the protrusion 130 decreases toward the ends of the rail body 102 in the width direction, and the roller contact portion 133 is provided between the pair of inclined surfaces 131 and 132. Is formed.
  • the roller contact portion 133 is formed to have a shape corresponding to that of the rail contact portion 393.
  • the cross-sectional shape of the protrusion 130 may have a trapezoid having a pair of inclined surfaces 131 and 132 and the roller contact portion 133 as an outline, and when the width of the roller contact portion 133 is narrow, it may have a V groove shape. It may be.
  • a pair of inclined surfaces 141 and 142 and a roller contact portion 143 are also formed on the protrusion 140 formed at the other side of the rail body 102, which is a pair of inclined surfaces 131 and 132 of the protrusion 130 described above. And the roller contact portion 133.
  • the protrusion 130 of the rail body 102 is inserted into the groove 390 of the roller 370.
  • the load applied to the trolley 300 may be transferred to and supported by the guide rail 101 through the contact between the rail contact portion 393 and the roller contact portion 133, and the rail contact portion 393 and the roller contact portion 133 may be supported.
  • the width of may be increased or decreased in consideration of the magnitude of the load applied to the balance (300).
  • the pair of rollers (370, 370a) provided in the fixed frame 330 is disposed on both sides of the guide rail 101 in the width direction. That is, one of the pair of rollers 370 and 370a coupled to the fixed frame 330 is disposed at one side of the rail body 102 in the width direction, and the other one 370a is the rail body 102. Is disposed on the other side of the width direction.
  • the pair of rollers 380 and 380a provided in the other fixed frame 340 are also arranged in the same manner.
  • the bogie 300 is coupled to the rail body 102 by four rollers 370, 370a, 380, and 380a, and the bogie 300 by the rotation of the four rollers 370, 370a, 380, and 380a. Is driven along the longitudinal direction of the guide rail 101-preferably, the trolley travels along the longitudinal direction on the basis of the center line CL which is the center line for the straight extension section of the guide rail.
  • a pair of fixed frames 330, 340 fixedly coupled to the main frame 310 is installed to form a certain angle (hereinafter referred to as 'an inter-fixed frame (F)').
  • F is an angle formed by an imaginary line connecting two roller center points formed in each fixed frame.
  • the angle F between the fixed frames is a center point for the two pairs of rollers provided in the fixed frames 330 and 340, that is, the protrusions 130 of the guide rails 101 on the pair of fixed frames 330 and 340.
  • An imaginary line connecting the center points RC1 and RC2 of the rollers 370 and 370a rotatably provided by the friction force and the center points RC3 and RC4 of the rollers 380 and 380a are provided. It means the angle to form.
  • G is the angle formed by placing the main frame in the second curve section and connecting two roller center points close to the center point among the roller center points formed in the fixed frames of the main frame at the center point that the curve can form. it means.
  • F is not much different from G, and in principle, it is manufactured at almost the same angle.
  • many repetitions have shown that F works well in the G15 range as long as it has a non-negative positive angle and is more than 1/4 of G.
  • the angle between the pair of roller center points (RC3, RC4) far from the center of gravity based on the center point can be formed larger than the angle between the pair of roller center points (RC1, RC2) close to the center point.
  • the distance between the pair of roller center points RC3 and RC4 far from the center point may be formed longer than the distance of the pair of roller center points RC1 and RC2 close to the center point.
  • the trolley 300 since the angle F between the fixed frames can be freely formed within a predetermined range, the trolley 300 has a shape in which the guide rail 101 is curved in one direction on a plane parallel to the main frame 310. Even if it can run smoothly.
  • the guide rail 101 has a curved shape on a plane parallel to the main frame 310.
  • the rail body 102 has a radius of curvature RV2 of the one side protrusion 130, a radius of curvature RV1 of the other side protrusion 140 and a radius of curvature RV0 of the longitudinal center line CLR1 of the rail body 102. All of these are curved to have the same center of curvature (C1).
  • C1 center point RC1 of the pair of rollers 370 and 370a coupled to the fixed frame 330 on one side.
  • the fixed frame 330 is positioned so that RC2 lies on a straight line perpendicular to the center line CLR1 of the rail body 102, and a pair of rollers 380 coupled to the other fixed frame 340.
  • the fixed frame 340 is positioned so that the center points RC3 and RC4 of the 380a lie on a straight line perpendicular to the centerline CLR1 of the rail body 102.
  • the straight line CLR1 connecting the center points RC1 and RC2 of the pair of rollers 370 and 370a and the straight line CLR2 connecting the center points RC3 and RC4 of the other pair of rollers 380 and 380a are
  • the rail body 102 passes through the center point C1 of the radius of curvature.
  • the radius of curvature of the rail body 102 on which the trolley 300 runs is the distance DS between the central axes CS1 and CS2 of the pair of fixed frames 330 and 340 and the center of the rollers 370 and 370a. It can be changed according to the distance DR between the axes. Therefore, the arrangement of the distance DS between the central axes CS1 and CS2 of the pair of fixed frames 330 and 340 and the arrangement of the distance DR between the roller shafts 350 and 350a are performed in the main body of the rail body 102.
  • the radius of curvature in the plane parallel to the frame 310 may be determined in consideration of.
  • the angle AR formed by the inclined surfaces 131 and 132 of the protrusion 130 is smaller than the angle AG formed by the inclined surfaces 391 and 392 of the groove 390.
  • the guide AR has a structure in which the angle AR formed by the inclined surfaces 131 and 132 of the protrusion 130 is smaller than the angle AG formed by the inclined surfaces 391 and 392 of the groove 390. Even when the rail 101 extends in a curve on a plane intersecting with the main frame 310, the bogie 300 may smoothly travel along the guide rail 101.
  • the guide rail 101 extends in a curve with a predetermined radius of curvature RH1 on a plane parallel to the main frame 310 and has a center of curvature C2.
  • an angle between the inclined surfaces 131 and 132 of the protrusion 130 is referred to as an angle between the inclined surfaces 391 and 392 of the groove 390 (AG, hereinafter referred to as 'groove angle').
  • AR angle between the inclined surfaces 131 and 132 of the protrusion 130
  • AG angle between the inclined surfaces 391 and 392 of the groove 390
  • a gap is formed between the inclined surfaces 131 and 132 of the protrusion 130 and the inclined surfaces 391 and 392 of the groove 390.
  • the angle of rotation of the central axis of rotation CRL1 of the roller 370 and the central axis CLR0 of the rail body 102 are changed within a predetermined range AB based on a state orthogonal to each other.
  • the protruding portion 130 may be inserted into the groove portion 390 to maintain the contact state between the roller contact portion 133 and the rail contact portion 393.
  • the protrusion angle AR and the groove angle AG are the same, the inclined surfaces 131 and 132 of the protrusion 130 and the inclined surfaces 391 and 392 of the groove 390 are in contact with each other. At this time, in order to maintain the contact state of the roller contact portion 133 and the rail contact portion 393, the center of rotation of the roller 370 and the guide rail 101 should be maintained perpendicular to each other. Therefore, when the protrusion angle AR and the groove angle AG are the same, the roller 370 may be stably coupled to the protrusion 130 only when the roller 370 is the straight guide rail 101.
  • the roller 130 is maintained while the protrusion 130 is inserted into the groove 390 due to the clearance caused by the difference between the protrusion angle AR and the groove angle AG.
  • a range of angle changes AB may occur between the central axis of rotation CLR0 and the longitudinal center axis CLR0 of the rail body 102. This applies to all four rollers 370, 370a, 380, 380a and a pair of protrusions 130, 140.
  • the changeable angle range AB between the longitudinal central axes of 102 can be increased.
  • the rollers 370, 370a When the guide rail 101 extends in a curve on a plane intersecting with the main frame 310, the rollers 370, 370a at the position where the four rollers 370, 370a, 380, 380a are coupled to the rail body 102.
  • the angle formed by the center points RC1, RC2, RC3, and RC4 of the, 380, and 380a and the longitudinal center line CLR2 of the rail body 102 is deviated from the vertical.
  • 370a, 380, and 380a can all be stably in contact with the rail body 102, so that the trolley 300 can travel smoothly along the rail body 102.
  • the guide rail 101 has a curved shape in the opposite direction to the guide rail 101 on a plane intersecting with the main frame 310, which is also parallel to the central axis of the pair of frame axes (320, 320a) Since the center of curvature C3 is formed on the imaginary plane and the curvature radius RH2 is parallel to the imaginary plane, the bogie 300 can be smoothly moved along the rail body 102. .
  • the transport cart system 100 since the shape of the guide rail 101 can be freely set according to the condition of the space in which the transport cart 300 is to be installed, the cart 300 is provided. Can be transported in the most effective direction to obtain the effect of increasing the feed rate and the efficiency, and can minimize the length of the guide rail 101 to be installed can be obtained the effect of saving resources and minimizing the space occupancy .
  • the guide rail 101 can be fixed by using a support, such as the ceiling and the wall surface as well as the floor of the work site, so that the space utilization can be increased, and it can be minimized to cause trouble to the worker's movement The effect that convenience is improved can be obtained.
  • the transfer speed of the trolley 300 can be set faster than a transfer device such as a conveyor, and the noise generated can also be minimized.
  • the four rollers may be made of a material having elasticity, such as synthetic resin or rubber.
  • the four rollers 370, 370a, 380, and 380a are made of a metal material, and the surface is coated with synthetic resin or rubber to make noise. It may be possible to reduce the occurrence.
  • the balance driving means may include a motor 500, a pulley 520, and a wire rope 540 (including a 'chain').
  • the motor 500 is provided on one side of the guide rail 101, the pulley 520 is coupled to the drive shaft of the motor 500 is rotated by the motor 500.
  • the wire rope 540 is provided along the guide rail 101, and one side of the wire rope 540 is wound around the pulley 520 and the other side is coupled to the trolley 300.
  • the motor 500 generates driving power for driving the trolley 300, and the driving power is transmitted to the trolley 300 through a wire rope 540 wound on the pulley 520, so that the trolley 300 is guide rail ( 101).
  • the groove 490 may be formed in the roller 470, and the groove 490 may be provided with a pair of inclined surfaces 491 and 492 and a rail contact portion 493. Since the overall shape of the roller 470 is the same as the roller 370 described above, overlapping description thereof will be omitted. However, a plurality of protrusions (not shown) may be formed in the rail contact portion 493 of the roller 470.
  • the roller 470 may transmit the rotational force to the guide rail 101 without slipping. Therefore, when the roller 470 having a plurality of protrusions is formed, the operating efficiency of the trolley 300 may be improved, and the precise position control of the trolley 300 may be enabled.
  • the holding means 700 is provided on the opposite side of the main frame 310, the roller (370, 370a, 380, 380a) is provided, the transported goods (not shown) is held in the holding means 700 It is fixed to 300.
  • the object to be transported is fixed to the trolley 300 by the gripping means 700, when the trolley 300 travels along the guide rail 101, the object to be transported is integrated with the trolley 300.
  • the holding means 700 may be in the form of a hook, forceps, robot arm, etc. In addition, it may be in various forms that can be fixed to the trolley 300.
  • the trolley 300 maintains contact with the guide rails 101 by the rollers 370, 370a, 380, and 380a, and the main frame 310 and the fixed frames 330 and 340 are rollers ( Since it is provided only on one side of the 370, 370a, 380, 380a, the center of gravity of the trolley 300 is not formed on the line where the rollers 370, 370a, 380, 380a are in contact with the guide rail 101, but formed on the outside. It must be. Therefore, the moment acting by the force which separates from the guide rail 101 always acts on the rollers 370, 370a, 380, 380a.
  • the trolley 300 includes the first rolling bodies 410 and 420 and the second rolling bodies 410a. , 420a, third cloud bodies 430 and 440 and fourth cloud bodies 430a and 440a are provided.
  • the first rolling bodies 410 and 420 are rotatably provided on surfaces facing the fixed frames 330 and 340, and are provided at positions higher than the central axes CS1 and CS2 of the fixed frames 330 and 340.
  • the rolling bodies 410a and 420a are rotatably provided on the rollers 370 and 380 provided at positions lower than the central axes CS1 and CS2 of the fixed frames 330 and 340.
  • the first clouds 410 and 420 and the second rolling bodies 410a and 420a are fixed frames 330 and 340 in the guide rail 101.
  • the third cloud body (430, 440) on the opposite side of the fixed frame (330, 340) in the guide rail 101 It is in contact with the surface on which it is located (hereinafter referred to as 'outer surface of the guide rail 101').
  • the rotation axes of the first cloud bodies 410 and 420 and the second cloud bodies 410a and 420a are orthogonal to the roller shafts 350 and 350a of the rollers 370, 370a, 380 and 380a.
  • the first cloud bodies 410 and 420 and the second cloud bodies 410a and 420a are provided in the fixed frames 330 and 340, respectively, but two or more may be provided for each fixed frame 330 and 340 as necessary. It may be provided.
  • the first clouds 410 and 420 are in contact with the inner surface of the guide rail 10 at a position higher than the central axes CS1 and CS2 of the fixed frames 330 and 340, and the second The rolling bodies 410a and 420a contact the inner surface of the guide rail 10 at positions lower than the central axes CS1 and CS2, and the third clouds 430 and 440 are centered on the fixed frames 330 and 340.
  • the fourth rolling bodies 430a and 440a are lower than the central axes CS1 and CS2 of the fixed frames 330 and 340 at a position higher than the axes CS1 and CS2 and in contact with the outer surface of the guide rail 10.
  • the trolley 300 By contacting the outer surface of the guide rail 10 in the, the vehicle 300 is rotated in parallel with the center line CL of the straight extension section of the guide rail 101 during the running of the trolley 300, the trolley 300 is guide rail ( It is possible to travel stably without departing from 101).
  • the first, second, third, and fourth rolling bodies 410, 420, 410a, 420a, 430, 440, 430a, and 440a having the above configuration may include the center line CL of the straight extension section of the guide rail 101 and It is preferred to be installed in parallel.
  • first roller brackets 450 and 460 may be provided on the rollers 370 and 380 so as to couple the rollers 370 and 380 having the rotational axes perpendicular to each other and the third cloud bodies 430 and 440 to each other. have.
  • One side of the first cloud brackets 450 and 460 is coupled on the roller shaft 350 of the rollers 370 and 380, and the third cloud bodies 430 and 440 are rotatably coupled to the other side.
  • the third cloud bodies 430 and 440 are formed on the roller shaft 350 of the rollers 370 and 380 provided at a position higher than the central axes CS1 and CS2 of the fixed frames 330 and 340.
  • the position where the second rolling bodies 430 and 440 are provided is not limited thereto, and the central axes CS1 and CS2 of the fixed frames 330 and 340 are provided. It may be provided at various positions of the fixed frame (330, 340) that is a structure that can contact the outer surface of the guide rail 10 at a higher position.
  • the rollers may be driven by moments generated in the trolley 300.
  • the 370, 370a, 380, and 380a may be prevented from escaping from the guide rail 101, but do not interfere with the guide rail 101 when the trolley 300 runs, and thus does not affect the running of the trolley 300.
  • the third cloud bodies 430 and 440 are provided to contact the outer surface of the guide rail 101 and are provided at a position higher than the central axes CS1 and CS2 of the fixed frames 330 and 340, and the fourth cloud bodies 430a and 440a are provided to contact the outer surface of the guide rail 101, but are provided at a position lower than the central axes CS1 and CS2 of the fixed frames 330 and 340.
  • the fourth cloud bodies 430a and 440a may be coupled to the trolley 300 by the second cloud brackets 450a and 460a in the same manner as the first cloud brackets 450 and 460.
  • One side of the second cloud brackets 450a and 460a is provided at a position lower than the central axes CS1 and CS2 of the fixed frames 330 and 340 among the rollers 370, 370a, 380 and 380a.
  • the fourth cloud body (430a, 440a) is coupled.
  • the inner surface and the outer surface of the guide rail 101 at a position where the first cloud body 410 and the third cloud body 430 and 440 are higher than the central axes CS1 and CS2 of the fixed frames 330 and 340.
  • the rolling motions are in contact with the side surfaces, and the second rails 410a and 420a and the fourth clouds 430a and 440a are lower than the central axes CS1 and CS2 of the fixed frames 330 and 340.
  • the rollers 370, 370a, 380, and 380a are more reliably prevented from leaving the guide rails 101 by an external force acting on the trolley 300.
  • the guide rail 101 extends in various paths in three dimensions by combining the straight section 101a and the curved sections 101b and 101c. Accordingly, the trolley 300 traveling on the guide rail 101 may be placed in various directions.
  • the trolley 300 according to the present invention has been shown that the rollers 370, 370a, 380, and 380a are placed in the vertical direction, but are 90 degrees, 180 degrees, and 270 in the clockwise direction according to the extending direction of the guide rail 101.
  • the vehicle may travel on the guide rail 101 in a state of being rotated, or rotated at another angle.
  • the first, second, third, fourth, and cloud bodies 410, 420, 410a, 420a, 430, 440, 430a, and 440 according to the present invention having the above-described configuration are inclined angles of the fixed frames 330 and 340. It should be placed in the preset position in proportion to.
  • the first, second, third, fourth, the cloud body 410, 420, 410a, 420a, 430, 440, 430a, 440 according to the present invention, so as to be parallel to the traveling direction of the fixed frame (330, 340) It is preferable to install.
  • the number and installation position of the rolling body provided in the trolley of the transport trolley system according to the present invention can be variously changed.
  • the first, second, third, fourth, and cloud bodies 410, 420, 410a, 420a, 430, 440, 430a, and 440 are arranged above and below the central axes CS1 and CS2 of the fixed frames 330 and 340. Since the rollers 370, 370a, 380, and 380a are seated in the correct positions on the guide rails 101, the rollers 370, 370a, 380, and 380a are placed in the right direction on the guide rails 101 because they are in contact with the inner and outer surfaces of the guide rails 101. Can be maintained.

Abstract

La présente invention concerne un système de chariot mobile. Par couplage et fixation, à un cadre principal, d'un cadre de fixation sur lequel un corps roulant en contact par roulement avec un rail de guidage est installé, la présente invention permet à un chariot d'être entraîné dans des sections incurvées ayant différents rayons de courbure, et est apte à réduire le bruit et la force de frottement, de réduire remarquablement le taux de défaillance, de prolonger significativement la durée de vie du système, et de réduire au minimum l'agitation du chariot pendant l'entraînement de telle sorte que le poids peut être transféré de manière uniforme.
PCT/KR2015/013418 2015-02-09 2015-12-09 Système de chariot mobile WO2016129797A1 (fr)

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KR1020150019592A KR20160097644A (ko) 2015-02-09 2015-02-09 이송용 대차 시스템
KR10-2015-0019592 2015-02-09

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EP3299317A1 (fr) * 2016-09-23 2018-03-28 Rockwell Automation Technologies, Inc. Système de conformité multi-rail/rouleau pour produits moteurs indépendants
CN109499931A (zh) * 2018-08-31 2019-03-22 杭州舜海光伏科技有限公司 清洁小车及光伏清洁设备
EP3524550A1 (fr) * 2018-02-08 2019-08-14 Rockwell Automation Technologies, Inc. Système de chenille à double rail pour commande industrielle
CN112424097A (zh) * 2018-07-13 2021-02-26 贝克霍夫自动化有限公司 运输系统及运输设备
CN115583472A (zh) * 2022-10-14 2023-01-10 南通爱利特机电制造有限公司 一种可多方向工作的垂直货物输送结构

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CN111207193A (zh) * 2020-02-28 2020-05-29 合肥中科离子医学技术装备有限公司 一种用于强磁环境的曲线轨道传动装置
CN114310929B (zh) * 2021-11-30 2023-10-24 杭州申昊科技股份有限公司 一种轨道巡检机器人的行走机构

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CN109499931A (zh) * 2018-08-31 2019-03-22 杭州舜海光伏科技有限公司 清洁小车及光伏清洁设备
CN115583472A (zh) * 2022-10-14 2023-01-10 南通爱利特机电制造有限公司 一种可多方向工作的垂直货物输送结构

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